Utilities for RT-Socket-CAN
===========================

For further information on RT-Socket-CAN, especially the kernel space
part, please have a look to "kernel/drivers/can/README".

Installation:
------------

Please install the Xenomai user space part as described in the
README.INSTALL.

  $ export CROSS_COMPILE=ppc_82xx-
  $ cd <xenomai-root>
  $ ./configure --prefix=/usr/xenomai --host=ppc-linux
  $ make
  $ export DESTDIR=/opt/eldk/ppc_82xx
  $ make install

Utilities for RT-Socket-CAN are available in "src/drivers/can".
With "make install" they get copied to the Xenomai installation
directory.


Running and using RT-Socket-CAN:
-------------------------------

Now boot the Xenomai enabled kernel on your target system.

In case RT-Socket-CAN is built as kernel modules, you need to load
them using modprobe or insmod, e.g. for this example build:

  # export MODDIR=/lib/modules/2.4.25/kernel/drivers/xenomai/rtcan
  # insmod $MODDIR/xeno_can.o
  # insmod $MODDIR/mscan/xeno_can_mscan.o
  # insmod $MODDIR/sja1000/xeno_can_sja1000.o
  # insmod $MODDIR/sja1000/xeno_can_peak_pci.o

Note that various kernel module parameters can be passed with insmod.
Please use "modinfo" to list them or check the corresponding source
code files for further information

There are a few RT-Socket-CAN utilities to configure RTCAN and to send
and receive CAN messages, which have been installed in the Xenomai
installation directory with "make install":

  # export XENO_ROOT=/usr/xenomai
  # export PATH=$PATH:$XENO_ROOT/bin
  # export LD_LIBRARY_PATH=$XENO_ROOT/lib

  # rtcanconfig --help
  Usage: rtcanconfig <can-interface> [Options] [up|down|start|stop|sleep]
  Options:
   -v, --verbose            be verbose
   -h, --help               this help
   -c, --ctrlmode=M1:M2:... listenonly or loopback mode
   -b, --baudrate=BPS       baudrate in bits/sec
   -B, --bittime=BTR0:BTR1  BTR or standard bit-time
   -B, --bittime=BRP:PROP_SEG:PHASE_SEG1:PHASE_SEG2:SJW:SAM

  # rtcanrecv --help
  Usage: rtcanrecv <can-interface> [Options]
  Options:
   -f  --filter=id:mask[:id:mask]... apply filter
   -e  --error=mask      receive error messages
   -t, --timeout=MS      timeout in ms
   -v, --verbose         be verbose
   -p, --print=MODULO    print every MODULO message
   -n, --name=STRING     name of the RT task
   -h, --help            this help

  # rtcansend --help
  Usage: rtcansend <can-interface> [Options] <can-msg>
  <can-msg> can consist of up to 8 bytes given as a space separated list
  Options:
   -i, --identifier=ID   CAN Identifier (default = 1)
   -r  --rtr             send remote request
   -e  --extended        send extended frame
   -l  --loop=COUNT      send message COUNT times
   -c, --count           message count in data[0-3]
   -d, --delay=MS        delay in ms (default = 1ms)
   -t, --timeout=MS      timeout in ms
   -v, --verbose         be verbose
   -p, --print=MODULO    print every MODULO message
   -h, --help            this help

Here are a few self-explanary commands:

  # rtcanconfig rtcan0 --baudrate=125000 start

  # rtcansend rtcan2 --verbose --identifier=0x123 0xde 0xad
  <0x123> [2] de ad

  # rtcanrecv rtcan0 --verbose
  #1: <0x123> [2] de ad

  bash-2.05b# rtcanrecv rtcan0 --filter=0x120:0x120
  Filter #0: id=0x00000120 mask=0x00000120
  #0: <0x124> [2] de ad
  #1: <0x123> [3] 12 34 56
  #2: <0x133> [4] 11 22 33 44

  # rtcanrecv rtcan0 --error=0xffff
  #1: !0x00000008! [8] 00 00 80 19 00 00 00 00 ERROR


PROC filesystem: the followingfiles provide useful information
on the status of the CAN controller, filter settings, registers,
etc.

  # cat /proc/rtcan/devices
  Name___________ _Baudrate State___ TX_Counter RX_Counter ____Errors
  rtcan0             125000 active            0          8          0
  rtcan1             125000 active            0          8          0
  rtcan2             125000 passive           8          0      14714

  # cat /proc/rtcan/sockets
  fd Name___________ Filter ErrMask RX_Timeout_ns TX_Timeout_ns RX_BufFull
   0 rtcan0               1 0x0ffff      infinite      infinite          0
   1 rtcan0               1 0x00000      infinite      infinite          0

  # cat /proc/rtcan/rtcan2/info
  Device     rtcan2
  Controller SJA1000
  Board      PEAK-PCI
  Clock-Hz   8000000
  Baudrate   125000
  Bit-time   brp=4 prop_seg=0 phase_seg1=13 phase_seg2=2 sjw=1 sam=0
  Ctrl-Mode
  State      passive
  TX-Counter 3
  RX-Counter 0
  Errors     45424
  Refcount   0

  # cat /proc/rtcan/rtcan0/filters
  fd __CAN_ID__ _CAN_Mask_ MatchCount
   0 0x00000000 0x00000000          0
   1 0x00000120 0x00000120          3

  # cat /proc/rtcan/rtcan0/registers
  MSCAN registers at f0000900
  canctl0  0x90 rxfrm synch
  canctl1  0xc0 cane clksrc
  ...

  # cat /proc/rtcan/rtcan2/registers
  SJA1000 registers
  00: 00 00 4c 00 ff 00 03 1c 1a 00 00 02 d6 60 14 88
  10: 02 26 60 de ad 04 04 00 ef c7 ef ef 40 00 00 c7